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adamj12b

my_LinuxCNC_machine3.hal

adamj12b
Aug 2nd, 2017
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  1. # Generated by PNCconf at Wed Aug 2 17:42:44 2017
  2. # If you make changes to this file, they will be
  3. # overwritten when you run PNCconf again
  4.  
  5. loadrt trivkins
  6. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  7. loadrt hostmot2
  8. loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxx"
  9. setp hm2_5i25.0.watchdog.timeout_ns 5000000
  10. loadrt pid names=pid.x,pid.y,pid.z,pid.s
  11. loadrt scale names=scale.gear
  12. loadrt mux16 names=ratio_select
  13.  
  14. addf hm2_5i25.0.read servo-thread
  15. addf motion-command-handler servo-thread
  16. addf motion-controller servo-thread
  17. addf pid.x.do-pid-calcs servo-thread
  18. addf pid.y.do-pid-calcs servo-thread
  19. addf pid.z.do-pid-calcs servo-thread
  20. addf pid.s.do-pid-calcs servo-thread
  21. addf ratio_select servo-thread
  22. addf scale.gear servo-thread
  23. addf hm2_5i25.0.write servo-thread
  24.  
  25. # external output signals
  26.  
  27.  
  28. # --- SPINDLE-CW ---
  29. net spindle-cw hm2_5i25.0.7i77.0.0.output-14
  30.  
  31. # --- SPINDLE-CCW ---
  32. net spindle-ccw hm2_5i25.0.7i77.0.0.output-15
  33.  
  34. # external input signals
  35.  
  36.  
  37. # --- JOG-X-POS ---
  38. net jog-x-pos <= hm2_5i25.0.7i84.0.2.input-00
  39.  
  40. # --- JOG-Y-POS ---
  41. net jog-y-pos <= hm2_5i25.0.7i84.0.2.input-01
  42.  
  43. # --- JOG-X-NEG ---
  44. net jog-x-neg <= hm2_5i25.0.7i84.0.2.input-02
  45.  
  46. # --- JOG-Y-NEG ---
  47. net jog-y-neg <= hm2_5i25.0.7i84.0.2.input-03
  48.  
  49. # --- JOG-A-POS ---
  50. net jog-a-pos <= hm2_5i25.0.7i84.0.2.input-04
  51.  
  52. # --- JOG-A-NEG ---
  53. net jog-a-neg <= hm2_5i25.0.7i84.0.2.input-05
  54.  
  55. # --- JOG-Z-POS ---
  56. net jog-z-pos <= hm2_5i25.0.7i84.0.2.input-06
  57.  
  58. # --- JOG-Z-NEG ---
  59. net jog-z-neg <= hm2_5i25.0.7i84.0.2.input-07
  60.  
  61. # --- JOG-SELECTED-NEG ---
  62. net jog-selected-neg <= hm2_5i25.0.7i84.0.2.input-14
  63.  
  64. # --- JOG-SELECTED-POS ---
  65. net jog-selected-pos <= hm2_5i25.0.7i84.0.2.input-15
  66.  
  67. # --- JOINT-SELECT-A ---
  68. net joint-select-a <= hm2_5i25.0.7i84.0.2.input-27
  69.  
  70. # --- JOINT-SELECT-B ---
  71. net joint-select-b <= hm2_5i25.0.7i84.0.2.input-28
  72.  
  73. # --- JOINT-SELECT-C ---
  74. net joint-select-c <= hm2_5i25.0.7i84.0.2.input-29
  75.  
  76. # --- JOINT-SELECT-D ---
  77. net joint-select-d <= hm2_5i25.0.7i84.0.2.input-30
  78.  
  79. #*******************
  80. # AXIS X
  81. #*******************
  82.  
  83. setp pid.x.Pgain [AXIS_0]P
  84. setp pid.x.Igain [AXIS_0]I
  85. setp pid.x.Dgain [AXIS_0]D
  86. setp pid.x.bias [AXIS_0]BIAS
  87. setp pid.x.FF0 [AXIS_0]FF0
  88. setp pid.x.FF1 [AXIS_0]FF1
  89. setp pid.x.FF2 [AXIS_0]FF2
  90. setp pid.x.deadband [AXIS_0]DEADBAND
  91. setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
  92. setp pid.x.error-previous-target true
  93. setp pid.x.maxerror .0005
  94.  
  95. net x-index-enable <=> pid.x.index-enable
  96. net x-enable => pid.x.enable
  97. net x-pos-cmd => pid.x.command
  98. net x-vel-cmd => pid.x.command-deriv
  99. net x-pos-fb => pid.x.feedback
  100. net x-output => pid.x.output
  101.  
  102. # ---PWM Generator signals/setup---
  103.  
  104. setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
  105. setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
  106. setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
  107.  
  108. net x-output => hm2_5i25.0.7i77.0.1.analogout0
  109. net x-pos-cmd axis.0.motor-pos-cmd
  110. net x-enable axis.0.amp-enable-out
  111. # enable _all_ sserial pwmgens
  112. net x-enable hm2_5i25.0.7i77.0.1.analogena
  113.  
  114. # ---Encoder feedback signals/setup---
  115.  
  116. setp hm2_5i25.0.encoder.03.counter-mode 0
  117. setp hm2_5i25.0.encoder.03.filter 1
  118. setp hm2_5i25.0.encoder.03.index-invert 0
  119. setp hm2_5i25.0.encoder.03.index-mask 0
  120. setp hm2_5i25.0.encoder.03.index-mask-invert 0
  121. setp hm2_5i25.0.encoder.03.scale [AXIS_0]ENCODER_SCALE
  122.  
  123. net x-pos-fb <= hm2_5i25.0.encoder.03.position
  124. net x-vel-fb <= hm2_5i25.0.encoder.03.velocity
  125. net x-pos-fb => axis.0.motor-pos-fb
  126. net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.03.index-enable
  127. net x-pos-rawcounts <= hm2_5i25.0.encoder.03.rawcounts
  128.  
  129. # ---setup home / limit switch signals---
  130.  
  131. net x-home-sw => axis.0.home-sw-in
  132. net x-neg-limit => axis.0.neg-lim-sw-in
  133. net x-pos-limit => axis.0.pos-lim-sw-in
  134.  
  135. #*******************
  136. # AXIS Y
  137. #*******************
  138.  
  139. setp pid.y.Pgain [AXIS_1]P
  140. setp pid.y.Igain [AXIS_1]I
  141. setp pid.y.Dgain [AXIS_1]D
  142. setp pid.y.bias [AXIS_1]BIAS
  143. setp pid.y.FF0 [AXIS_1]FF0
  144. setp pid.y.FF1 [AXIS_1]FF1
  145. setp pid.y.FF2 [AXIS_1]FF2
  146. setp pid.y.deadband [AXIS_1]DEADBAND
  147. setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
  148. setp pid.y.error-previous-target true
  149. setp pid.y.maxerror .0005
  150.  
  151. net y-index-enable <=> pid.y.index-enable
  152. net y-enable => pid.y.enable
  153. net y-pos-cmd => pid.y.command
  154. net y-vel-cmd => pid.y.command-deriv
  155. net y-pos-fb => pid.y.feedback
  156. net y-output => pid.y.output
  157.  
  158. # ---PWM Generator signals/setup---
  159.  
  160. setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
  161. setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
  162. setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
  163.  
  164. net y-output => hm2_5i25.0.7i77.0.1.analogout1
  165. net y-pos-cmd axis.1.motor-pos-cmd
  166. net y-enable axis.1.amp-enable-out
  167.  
  168. # ---Encoder feedback signals/setup---
  169.  
  170. setp hm2_5i25.0.encoder.00.counter-mode 0
  171. setp hm2_5i25.0.encoder.00.filter 1
  172. setp hm2_5i25.0.encoder.00.index-invert 0
  173. setp hm2_5i25.0.encoder.00.index-mask 0
  174. setp hm2_5i25.0.encoder.00.index-mask-invert 0
  175. setp hm2_5i25.0.encoder.00.scale [AXIS_1]ENCODER_SCALE
  176.  
  177. net y-pos-fb <= hm2_5i25.0.encoder.00.position
  178. net y-vel-fb <= hm2_5i25.0.encoder.00.velocity
  179. net y-pos-fb => axis.1.motor-pos-fb
  180. net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.00.index-enable
  181. net y-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
  182.  
  183. # ---setup home / limit switch signals---
  184.  
  185. net y-home-sw => axis.1.home-sw-in
  186. net y-neg-limit => axis.1.neg-lim-sw-in
  187. net y-pos-limit => axis.1.pos-lim-sw-in
  188.  
  189. #*******************
  190. # AXIS Z
  191. #*******************
  192.  
  193. setp pid.z.Pgain [AXIS_2]P
  194. setp pid.z.Igain [AXIS_2]I
  195. setp pid.z.Dgain [AXIS_2]D
  196. setp pid.z.bias [AXIS_2]BIAS
  197. setp pid.z.FF0 [AXIS_2]FF0
  198. setp pid.z.FF1 [AXIS_2]FF1
  199. setp pid.z.FF2 [AXIS_2]FF2
  200. setp pid.z.deadband [AXIS_2]DEADBAND
  201. setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
  202. setp pid.z.error-previous-target true
  203. setp pid.z.maxerror .0005
  204.  
  205. net z-index-enable <=> pid.z.index-enable
  206. net z-enable => pid.z.enable
  207. net z-pos-cmd => pid.z.command
  208. net z-vel-cmd => pid.z.command-deriv
  209. net z-pos-fb => pid.z.feedback
  210. net z-output => pid.z.output
  211.  
  212. # ---PWM Generator signals/setup---
  213.  
  214. setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
  215. setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
  216. setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
  217.  
  218. net z-output => hm2_5i25.0.7i77.0.1.analogout2
  219. net z-pos-cmd axis.2.motor-pos-cmd
  220. net z-enable axis.2.amp-enable-out
  221.  
  222. # ---Encoder feedback signals/setup---
  223.  
  224. setp hm2_5i25.0.encoder.01.counter-mode 0
  225. setp hm2_5i25.0.encoder.01.filter 1
  226. setp hm2_5i25.0.encoder.01.index-invert 0
  227. setp hm2_5i25.0.encoder.01.index-mask 0
  228. setp hm2_5i25.0.encoder.01.index-mask-invert 0
  229. setp hm2_5i25.0.encoder.01.scale [AXIS_2]ENCODER_SCALE
  230.  
  231. net z-pos-fb <= hm2_5i25.0.encoder.01.position
  232. net z-vel-fb <= hm2_5i25.0.encoder.01.velocity
  233. net z-pos-fb => axis.2.motor-pos-fb
  234. net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.01.index-enable
  235. net z-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
  236.  
  237. # ---setup home / limit switch signals---
  238.  
  239. net z-home-sw => axis.2.home-sw-in
  240. net z-neg-limit => axis.2.neg-lim-sw-in
  241. net z-pos-limit => axis.2.pos-lim-sw-in
  242.  
  243. #*******************
  244. # SPINDLE S
  245. #*******************
  246.  
  247. setp pid.s.Pgain [SPINDLE_9]P
  248. setp pid.s.Igain [SPINDLE_9]I
  249. setp pid.s.Dgain [SPINDLE_9]D
  250. setp pid.s.bias [SPINDLE_9]BIAS
  251. setp pid.s.FF0 [SPINDLE_9]FF0
  252. setp pid.s.FF1 [SPINDLE_9]FF1
  253. setp pid.s.FF2 [SPINDLE_9]FF2
  254. setp pid.s.deadband [SPINDLE_9]DEADBAND
  255. net ratio_select.out pid.s.maxoutput
  256. setp pid.s.error-previous-target true
  257. setp pid.s.maxerror .0005
  258.  
  259. net spindle-index-enable <=> pid.s.index-enable
  260. net spindle-enable => pid.s.enable
  261. net spindle-vel-cmd-rpm-abs => pid.s.command
  262. net spindle-vel-fb-rpm-abs => pid.s.feedback
  263. net spindle-pid-out pid.s.output => scale.gear.in
  264. net gear-ratio ratio_select.out-f => scale.gear.gain
  265. setp ratio_select.in00 0.000233
  266. setp ratio_select.in01 0.001744
  267. net gear-select-a => ratio_select.sel0
  268. net spindle-output <= scale.gear.out
  269.  
  270. # ---PWM Generator signals/setup---
  271.  
  272. setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [SPINDLE_9]OUTPUT_SCALE
  273. setp hm2_5i25.0.7i77.0.1.analogout5-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
  274. setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
  275.  
  276. net spindle-output => hm2_5i25.0.7i77.0.1.analogout5
  277. net machine-is-enabled => hm2_5i25.0.7i77.0.1.spinena
  278.  
  279. # ---setup spindle control signals---
  280.  
  281. net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
  282. net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  283. net spindle-vel-cmd-rpm <= motion.spindle-speed-out
  284. net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
  285. net spindle-enable <= motion.spindle-on
  286. net spindle-cw <= motion.spindle-forward
  287. net spindle-ccw <= motion.spindle-reverse
  288. net spindle-brake <= motion.spindle-brake
  289. net spindle-revs => motion.spindle-revs
  290. net spindle-at-speed => motion.spindle-at-speed
  291. net spindle-vel-fb-rps => motion.spindle-speed-in
  292. net spindle-index-enable <=> motion.spindle-index-enable
  293.  
  294. # ---Setup spindle at speed signals---
  295.  
  296. sets spindle-at-speed true
  297.  
  298.  
  299. #******************************
  300. # connect miscellaneous signals
  301. #******************************
  302.  
  303. # ---HALUI signals---
  304.  
  305. net joint-select-a halui.joint.0.select
  306. net x-is-homed halui.joint.0.is-homed
  307. net jog-x-pos halui.jog.0.plus
  308. net jog-x-neg halui.jog.0.minus
  309. net jog-x-analog halui.jog.0.analog
  310. net joint-select-b halui.joint.1.select
  311. net y-is-homed halui.joint.1.is-homed
  312. net jog-y-pos halui.jog.1.plus
  313. net jog-y-neg halui.jog.1.minus
  314. net jog-y-analog halui.jog.1.analog
  315. net joint-select-c halui.joint.2.select
  316. net z-is-homed halui.joint.2.is-homed
  317. net jog-z-pos halui.jog.2.plus
  318. net jog-z-neg halui.jog.2.minus
  319. net jog-z-analog halui.jog.2.analog
  320. net jog-selected-pos halui.jog.selected.plus
  321. net jog-selected-neg halui.jog.selected.minus
  322. net spindle-manual-cw halui.spindle.forward
  323. net spindle-manual-ccw halui.spindle.reverse
  324. net spindle-manual-stop halui.spindle.stop
  325. net machine-is-on halui.machine.is-on
  326. net jog-speed halui.jog-speed
  327. net MDI-mode halui.mode.is-mdi
  328.  
  329. # ---coolant signals---
  330.  
  331. net coolant-mist <= iocontrol.0.coolant-mist
  332. net coolant-flood <= iocontrol.0.coolant-flood
  333.  
  334. # ---probe signal---
  335.  
  336. net probe-in => motion.probe-input
  337.  
  338. # ---motion control signals---
  339.  
  340. net in-position <= motion.in-position
  341. net machine-is-enabled <= motion.motion-enabled
  342.  
  343. # ---digital in / out signals---
  344.  
  345. # ---estop signals---
  346.  
  347. net estop-out <= iocontrol.0.user-enable-out
  348. net estop-out => iocontrol.0.emc-enable-in
  349.  
  350. # ---manual tool change signals---
  351.  
  352. loadusr -W hal_manualtoolchange
  353. net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
  354. net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  355. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  356. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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